优化了异形有障碍物算法

张世豪

23 小时以前 913a3b7409e08fd239a65ff7afabefe95b51865a

优化了异形有障碍物算法

 Obstacledge.properties

@@ -1,5 +1,5 @@
# 割草机地块障碍物配置文件
# 生成时间：2025-12-26T19:35:23.812685900
# 生成时间：2025-12-26T19:43:09.374455600
# 坐标系：WGS84（度分格式）

# ============ 地块基准站配置 ============

 dikuai.properties

@@ -1,5 +1,5 @@
#Dikuai Properties
#Fri Dec 26 19:35:23 CST 2025
#Fri Dec 26 19:43:09 CST 2025
LAND1.angleThreshold=-1
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryCoordinates=4.30,87.65;-2.36,-65.51;44.25,-66.72;49.70,-14.05;98.13,-15.87;99.34,-69.75;137.48,-67.93;134.45,90.07;4.30,87.65
@@ -18,9 +18,9 @@
LAND1.mowingTrack=-1
LAND1.mowingWidth=0.50
LAND1.obstacleCoordinates=(25.17,9.94;17.74,67.19;113.88,72.00;120.00,19.12;74.99,-4.48)
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LAND1.returnPathCoordinates=-1
LAND1.returnPathRawCoordinates=-1
LAND1.returnPointCoordinates=-1
LAND1.updateTime=2025-12-26 19\:35\:23
LAND1.updateTime=2025-12-26 19\:43\:09
LAND1.userId=-1

 homein.lock

 set.properties

@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
#Fri Dec 26 19:35:45 CST 2025
#Fri Dec 26 19:43:47 CST 2025
appVersion=-1
boundaryLengthVisible=false
currentWorkLandNumber=LAND1
@@ -8,12 +8,12 @@
handheldMarkerId=1872
idleTrailDurationSeconds=60
manualBoundaryDrawingMode=false
mapScale=6.83
mapScale=11.81
measurementModeEnabled=false
mowerId=6258
serialAutoConnect=true
serialBaudRate=115200
serialPortName=COM15
simCardNumber=-1
viewCenterX=-81.98
viewCenterY=18.79
viewCenterX=-134.26
viewCenterY=20.96

 src/lujing/YixinglujingHaveObstacel.java

@@ -65,7 +65,7 @@
     */
    private static List<Point> computeWorkingArea(List<Point> boundary, List<Obstacle> obstacles, double margin) {
        // 首先生成内缩边界
        List<Point> offsetBoundary = offsetPolygon(boundary, -margin);
        List<Point> offsetBoundary = offsetPolygon(boundary, margin);
        
        if (obstacles.isEmpty()) {
            return offsetBoundary;
@@ -127,7 +127,7 @@
        
        for (int pass = 0; pass < borderPasses; pass++) {
            double offset = pass * width;
            List<Point> offsetPoly = offsetPolygon(polygon, -offset);
            List<Point> offsetPoly = offsetPolygon(polygon, offset);
            
            if (offsetPoly.size() < 3) break;
            
@@ -803,7 +803,7 @@
            } else if (points.size() >= 3) {
                // 多边形障碍物
                makeCCW(points);
                List<Point> expanded = offsetPolygon(points, margin);
                List<Point> expanded = offsetPolygon(points, -margin);
                obstacles.add(new PolygonalObstacle(expanded));
            }
        }